Delay-based input shapers in feedback interconnections
نویسندگان
چکیده
A design method for a feedback controller with integrated delay-based command shaper is presented in this paper, based on the Smith predictor concept. PosiCast and related input command shapers (ZV, ZVD, EI etc.) are primarily intended as feedforward filters for reference (set point) signals. Nevertheless, due to their superior effectiveness in suppressing vibrations, there is a good motivation to incorporate them directly into positioning feedback loops for flexible structures. Compared to a purely feedforward setup, the feedback control system is commanded not to excite flexible vibrations by aggressive response of the controller, designed purely for the rigid body dynamics, to unmeasurable disturbances, not only to known reference command. If the shaper is tuned carefully to the flexible mode(-s) of interest, the overall feedback appears fast and responsive compared to the conventional approach of a simple high-frequency-roll-off compensator. Related experimental results (positioning servo with an attached flexible beam) are reported.
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